| Summary: | 碩士 === 國立臺灣科技大學 === 化學工程系 === 89 === Main content of this thesis is to design the controller for nonlinear plus dead time systems. We use the structure of nonlinear internal model control(NL-IMC) to compensation time delay, because the controller of NL-IMC is total inversed model then adding a filter, but some terms of model which are stable and not necessary to inverse, so we use backstepping method to improve the controller of NL-IMC ,and use this designed method to find out the terms which are not necessary to inverse. Let original NL-IMC become partial inversed. We research how to find out the terms which are not necessary inversed for different kinds of systems, and applies to a cstr process to compare their performance. From the result we know the NL-IMC which is partial inversed is more performance and robust than original controller.
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